DE264190C - - Google Patents

Description

IMPERIAL

PATENT OFFICE.

PATENT LETTERING

- M 264190 - CLASS 42 c. GROUP

AUGUST SCHERL in BERLIN.

through a top.

Patented in the German Empire on November 26, 1909.

The invention relates to an arrangement for dynamic stabilization of the Equilibrium of vehicles or other bodies that are unstable in a static sense on a Longitudinal axis are suspended by a gyroscope, the housing of which is firstly in the area to be stabilized Vehicle or body is suspended on a transverse axis so that the axis of rotation of the gyro is perpendicular to the transverse axis and intersects the longitudinal axis, so that They precession vibrations with the housing only in one through the longitudinal axis of the vehicle or body level, and its housing secondly, the relay of a servomotor so that the motor has additional forces in the event of a precession deflection switches on in the sense of an acceleration of the precession.

Such an arrangement, in which the

ao suspension of the gyro itself is a labile one, is described in patents 219780 and 220368. According to the present invention, the aim is to stabilize an unstable vehicle also achieved by using a stably or indifferently mounted gyro will. For this purpose, the additional forces in the phase against the precession speed postponed, in a lagging sense. An arrangement must also be made for the indifferently mounted top be taken so that the top always returns to its central position as soon as the whole system comes into its absolute equilibrium. For the stable Kreisel, this is the case without further ado.

■ In the drawing, an embodiment of a device is shown schematically, by means of which the mentioned phase shift of the additional forces can be brought about. The embodiment follows on from that which is described in patent specification 267812 for a device for achieving a force dependent on the speed of precession; RR are the handlebars that are shown in the drawing for that patent with 18 and

23 are designated. P ₁ is the point of attack

24 of the link 25, P ₂ corresponds to the point of application 19 of the piston rod 20, ^ A is the cataract 22. According to the invention, the upper link R is extended beyond the point P ₁ and thereby the point of application of the spring F, which the spring 26 of the mentioned patent, relocated to the outside world. The length of the counter-arm influenced by the cataract spring (23 of patent specification 267812) is made different from the length of the arm (18 of patent specification 267812), and a phase shift of the additional force that can be regulated within wide limits can thereby be achieved.

This is taught by the following mathematical development, in which A ₁ A _{2 are} constants, the values of which depend on the lever lengths, etc.
·> P ₁ oscillates according to the law

S ₁ = A ₁ - sin (wt).

A ίο ^force acts upwards on the piston rod

if F denotes the spring force. For χ can be set

x ^ S ₁ + - £ - (S ₁ - S ₂ ) This is the differential equation of motion; a particular solution can be pronounced through the law

S ₂ = .4 ₂ -sin (tu t + φ), j that is valid under the conditions:

a) tang φ = - -j - ^ -,

A ₁ - k (ι + λ)

so:

= -χ [(R + ρ) · S ₁ - ρ · S ₂ ],

P =

P) -S ₁ -P- S ₂ ].

If h denotes the damping factor of the cataract, it can be written:

Mr
or with the abbreviations

F _ ρ

if S ₂

= k (1 -JX) -S ₁ - k λ

that is after the introduction of

S ₁ = -i4 ₁ -sin (ω t):

d s
( _2. )? .. - k {i + \) - A ₁ -sm {wt) - kXs ₂ .

Ct t

A ₂ =

■ λ ² +

A ₂ -A ₁ * ΐ + - * coscp.

b)
or

If the theorem is to be applied to the gyro problem, it is advisable to start from the movement of point P ₂ , which is synchronous and in phase with the gyroscopic movement, that is to say:

S ₂ = A ₂ -sin (ω t) ; ■ from this it would follow:
S ₁ = A ₁ - sin (ου ί -f- φ)

= A _a ..

tang φ = -i

(i + λ)
do

• sin ι

,, 0 <φ <- ·

kX - - 2

The gyro speed obeys the law

V ₂ = -rf = dt

V ₂ =

co cos (ω t)

wt +

The additional force is proportional to C S ₁ (where C is a constant), so:

and you sit

so is

A (i + λ)

■ - φ = ψ,

tang ψ = tang φ I - cotang φ =

Result:

F ₂ = A ₂ · ω · sin I ω t - \ j

² k (I + λ)

_rin

tang ψ =

, k ~

k · K

From these equations it can be seen that the speed proportional Force is actually out of phase with the speed, namely the speed is lagging behind, if λ is positive, it leads if λ is made negative. Inner vibrations can also suffocate here due to the sedative cataract described in patent specification 267812 will.

Claims (2)

Patent-to sayings: i. Arrangement for dynamic stabilization of the equilibrium of vehicles or other bodies that are unstably suspended in the static sense on a longitudinal axis are, by a gyro, its housing 3u firstly in the vehicle to be stabilized or body is suspended on a transverse axis so that the axis of rotation of the top is perpendicular to the transverse axis and the longitudinal axis intersects so that it is with the Housing precession vibrations only in one through the longitudinal axis of the vehicle or body level, and its housing secondly controls the relay of a servomotor so that the motor with a precession deflection additional forces in the sense of an acceleration the precession turns on, characterized in that the gyro housing on the transverse axis in the stable or indifferent Balance is suspended and the additional forces are so dimensioned in their size that in each Instant additional force of the pre-cession speed of an already past Phase of the precession vibration is proportional. 2. Arrangement according to claim 1, characterized in that the degree of phase shift between the size of the additional force and its proportional speed of precession is adjustable. For this purpose i-sheet drawings.